static void __idg300_init(SENSOR* sensor){
IDG300* device = (IDG300*)sensor;
// The default is that device should be outputing 1.5v ie ADC10 = 307
device->x_zero = 0;
device->y_zero = 0;
// Read 8 times
for(uint8_t i=0; i<8; i++){
device->x_zero += a2dReadMv(device->x_pin);
device->y_zero += a2dReadMv(device->y_pin);
}
// Get average
device->x_zero /= 8;
device->y_zero /= 8;
}
static GYRO_TYPE __read_channel(ADC_CHANNEL pin, uint16_t zero){
int16_t adc = a2dReadMv(pin);
adc -= zero;
// Divide by 2mV per degree
GYRO_TYPE rtn = adc / 2;
return rtn;
}
// Read all the values and store into the device
static void __GP2Y0A710K0F_read(SENSOR* sensor){
Sharp_GP2Y0A710K0F* device = (Sharp_GP2Y0A710K0F*)sensor;
// uint16_t adc = a2dConvert10bit(device->adcPin);
// device->distance.cm = 500000000.0 * pow(adc,-2.4723);
uint16_t adc = a2dReadMv(device->adcPin);
device->distance.cm = 25270743335.99 * pow(adc,-2.4723);
}
static void init(SENSOR* sensor){
// The default is that device should be outputing 1.23v ie ADC10 of 251
LPRY530AL* device = (LPRY530AL*)sensor;
device->x_zero = 0;
device->y_zero = 0;
device->z_zero = 0;
// Read 8 times
for(uint8_t i=0; i<8; i++){
device->x_zero += a2dReadMv(device->x_pin);
device->y_zero += a2dReadMv(device->y_pin);
device->z_zero += a2dReadMv(device->z_pin);
}
// Get average
device->x_zero /= 8;
device->y_zero /= 8;
device->z_zero /= 8;
}
static GYRO_TYPE __read_channel(ADC_CHANNEL pin, boolean slow, uint16_t zero){
int16_t adc = a2dReadMv(pin);
adc -= zero;
GYRO_TYPE rtn;
if(slow){
rtn = fraction32(adc, ly530alh_slow_frac);
}else{
rtn = fraction32(adc, ly530alh_fast_frac);
}
return rtn;
}
static void __ly530alh_init(SENSOR* sensor){
LY530ALH* device = (LY530ALH*)sensor;
// The default is that device should be outputing 1.23v ie ADC10 of 251
device->z_zero = 0;
// Read 8 times
for(uint8_t i=0; i<8; i++){
device->z_zero += a2dReadMv(device->z_pin);
}
// Get average
device->z_zero /= 8;
}
static GYRO_TYPE __read_channel(ADC_CHANNEL pin, boolean slow, uint16_t zero){
// Read the voltage im mV
int16_t adc = 0;
for(uint8_t s=0; s<SAMPLES;s++){
adc += a2dReadMv(pin);
}
adc /= SAMPLES;
// Make zero relative
adc -= zero;
GYRO_TYPE rtn;
if(slow){
// Divide by 3.33mV = multiply by 0.3
rtn = fraction32(adc, slow_frac);
}else{
// Divide by 0.83mV = multiply by 1.2
rtn = fraction32(adc, fast_frac);
}
return rtn;
}
